6 This chapter provides descriptions of the drive faults, alarms, errors, related displays, and guidance for troubleshooting. This chapter can also serve as a reference guide for tuning the drive during a trial run. 6.1 SECTION SAFETY.................................................. 302 6.2 MOTOR PERFORMANCE FINE-TUNING................................ 304 6.3 DRIVE ALARMS, FAULTS, AND ERRORS.............................. 308 6.4 FAULT DETECTION................................................ 314 6.5 ALARM DETECTION................................................ 327 6.6 OPERATOR PROGRAMMING ERRORS................................ 333 6.7 AUTO-TUNING FAULT DETECTION................................... 336 6.8 COPY FUNCTION RELATED DISPLAYS................................ 339 6.9 DIAGNOSING AND RESETTING FAULTS............................... 341 6.10 TROUBLESHOOTING WITHOUT FAULT DISPLAY...................... 343 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual 301
6.1 Section Safety 6.1 Section Safety DANGER Electrical Shock Hazard Do not connect or disconnect wiring while the power is on. Failure to comply will result in death or serious injury. Do not operate equipment with covers removed. Failure to comply could result in death or serious injury. W ARNING Electrical Shock Hazard The diagrams in this section may illustrate drives without covers or safety shields to display details. Be sure to reinstall covers or shields before operating the drives and run the drives according to the instructions described in this manual. Always ground the motor-side grounding terminal. Improper equipment grounding could result in death or serious injury by contacting the motor case. Do not touch terminals before the capacitors have fully discharged. Failure to comply could result in death or serious injury. Before wiring terminals, disconnect all power to the equipment. The internal capacitor remains charged even after the drive input power is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching any components. Do not allow unqualified personnel to perform work on the drive. Failure to comply could result in death or serious injury. Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with installation, adjustment and maintenance of AC drives. Do not perform work on the drive while wearing loose clothing, jewelry, or without eye protection. Failure to comply could result in death or serious injury. Remove all metal objects such as watches and rings, secure loose clothing and wear eye protection before beginning work on the drive. Do not remove covers or touch circuit boards while the power is on. Failure to comply could result in death or serious injury. Fire Hazard Tighten all terminal screws to the specified tightening torque. Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections. Do not use an improper voltage source. Failure to comply could result in death or serious injury by fire. Verify that the rated voltage of the drive matches the voltage of the incoming drive input power before applying power. 302 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual
6.1 Section Safety W ARNING Do not use improper combustible materials. Failure to comply could result in death or serious injury by fire. Attach the drive to metal or other noncombustible material. NOTICE Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards. Failure to comply may result in ESD damage to the drive circuitry. Never connect or disconnect the motor from the drive while the drive is outputting voltage. Improper equipment sequencing could result in damage to the drive. Do not use unshielded cable for control wiring. Failure to comply may cause electrical interference resulting in poor system performance. Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive. Do not allow unqualified personnel to use the product. Failure to comply could result in damage to the drive or braking circuit. Carefully review instruction manual TOBP C720600 00 when connecting a dynamic braking option to the drive. Do not modify the drive circuitry. Failure to comply could result in damage to the drive and will void warranty. Yaskawa is not responsible for modification of the product made by the user. Check all the wiring after installing the drive and connecting other devices to ensure that all connections are correct. Failure to comply could result in damage to the drive. 6 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual 303
6.2 Motor Performance Fine-Tuning 6.2 Motor Performance Fine-Tuning This section offers helpful information for counteracting oscillation, hunting, or other problems that occur while performing a trial run. Refer to the section below that corresponds to the motor control method used. Note: This section describes parameters that are commonly edited and may be set incorrectly. Consult Yaskawa for more information on detailed settings and fine-tuning the drive. Fine-Tuning V/f Control and V/f Control with PG Problem Motor hunting and oscillation at speeds between 10 and 40 Hz Motor noise Motor hunting and oscillation at speeds up to 40 Hz Poor torque or speed response Motor hunting and oscillation Poor motor torque at speeds below 10 Hz Motor hunting and oscillation Poor motor torque at low speeds Motor instability at motor start Poor speed precision (V/f control) Poor speed precision (V/f control with PG) Table 6.1 Parameters for Fine-Tuning Performance in V/f and V/f w/pg Parameter No. Corrective Action Default Hunting Prevention Gain (n1-02) Carrier Frequency Selection (C6-02) Torque Compensation Primary Delay Time (C4-02) Torque Compensation Gain (C4-01) Mid Output Voltage A (E1-08) Minimum Output Voltage (E1-10) Slip Compensation Gain (C3-01) ASR Proportional Gain 1 (C5-01) ASR Integral Time 1 (C5-02) <3> <4> If insufficient motor torque relative to the size of the load causes hunting, reduce the setting. When motor hunting and oscillation occur with a light load, increase the setting. Lower this setting if hunting occurs when using a motor with a relatively low inductance, such as a high-frequency motor or a motor with a larger frame size. If the motor noise is too loud, increase the carrier frequency. When motor hunting and oscillation occur at speeds up to 40 Hz, lower the carrier frequency. The default setting for the carrier frequency depends on the drive capacity (o2-04) and the Duty Selection (C6-01). If motor torque and speed response are too slow, decrease the setting. If motor hunting and oscillation occur, increase the setting. If motor torque is insufficient at speeds below 10 Hz, increase the setting. If motor hunting and oscillation with a relatively light load, decrease the setting. If torque is insufficient at speeds below 10 Hz, increase the setting. If motor instability occurs at motor start, decrease the setting. Note: The recommended setting value is for 200 V class drives. Double this value when using a 400 V class drive. After setting the motor-rated current (E2-01), motor-rated slip (E2-02), and motor no-load current (E2-03), adjust the slip compensation gain (C3-01). Adjust the ASR proportional gain 1 (C5-01) and the ASR integral time 1 (C5-02). Suggested Setting 1.00 0.10 to 2.00 1 (2 khz) 1 to max. setting 200 ms <1> 100 to 1000 ms 1.00 0.50 to 1.50 E1-08: 15.0 V E1-10: 9.0 V <2> 0.0 (no slip compensation) C5-01: 0.20 C5-02: 0.200 Default setting ±5 V <1> Default setting value is dependent on parameter A1-02, Control Method Selection, and o2-04, Drive Model Selection. <2> Default settings change when the Control Method is changed (A1-02) or a different V/f pattern is selected using parameter E1-03. <3> ASR in V/f Control with PG only controls the output frequency, and therefore does not allow the high gain settings possible when using Close Loop Vector control. <4> Refer to C5: Automatic Speed Regulator (ASR) on page 173 for details on Automatic Speed Regulator (ASR). 0.5 to 1.5 Proportional gain = 0.10 to 1.00 Integral time = 0.100 to 2.000 Fine-Tuning Open Loop Vector Control Table 6.2 Parameters for Fine-Tuning Performance in OLV Problem Parameter No. Corrective Action Default Poor motor torque and speed response Motor hunting and oscillation at speeds between 10 and 40 Hz Poor motor torque and speed response Motor hunting and oscillation at speeds between 10 and 40 Hz Overvoltage trips when accelerating, decelerating, or during sudden speed or load changes. AFR Gain (n2-01) AFR Time Constant 1 (n2-02) AFR Time Constant 2 (n2-03) Torque Compensation Primary Delay Time Constant 2 (C4-06) If motor torque and speed response are too slow, gradually decrease the setting by 0.05. If motor hunting and oscillation occur, gradually increase the setting by 0.05. To improve motor torque speed response, gradually reduce this setting by 10 ms and check the performance. If motor hunting and oscillation occur as a result of load inertia, gradually increase the setting by 50 ms and check the performance. Note: Ensure that n2-02 n2-03. When changing n2-02, set C4-02 (Torque Compensation Primary Delay Time Constant 1) accordingly. If overvoltage occur, gradually increase this setting by 50 ms. If response is slow, gradually reduce this setting by 10 ms. Note: Ensure that n2-02 n2-03. When making adjustments to n2-03, increase the value of C4-06 (Torque Compensation Primary Delay Time 2) proportionally. If overvoltage trips occur, gradually increase this setting by 10 ms and check the performance. If response is slow, gradually reduce this setting by 2 ms and check the performance. Note: Ensure that C4-02 C4-06. When changing C4-06 (Torque Compensation Primary Delay Time Constant 2), increase the value of n2-03 proportionally. Suggested Setting 1.00 0.50 to 2.00 50 ms 50 to 2000 ms 750 ms 750 to 2000 ms 150 ms 150 to 750 ms 304 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual
6.2 Motor Performance Fine-Tuning Poor motor torque and speed response Motor hunting and oscillation Poor speed response and stability Poor speed precision Poor speed precision during regenerative operation Problem Parameter No. Corrective Action Default Motor noise Motor hunting and oscillation occur at speeds below 10 Hz Poor motor torque at low speeds Poor speed response Motor instability at start Torque Compensation Primary Delay Time Constant 1 (C4-02) Slip Compensation Primary Delay Time Constant (C3-02) Slip Compensation Gain (C3-01) Slip Compensation Selection During Regeneration (C3-04) Carrier Frequency Selection (C6-02) Mid Output Voltage A (E1-08) Minimum Output Voltage (E1-10) When using OLV, leave the torque compensation gain (C4-01) at its default setting of 1.00. Fine-Tuning Closed Loop Vector Control To improve motor torque speed response, gradually reduce this setting by 2 ms and check the performance. If motor hunting and oscillation occur, gradually increase this setting by 10 ms. Note: Ensure that C4-02 C4-06. When making adjustments to C4-02, increase the AFR time constant (n2-02) proportionally. If response is slow, gradually decrease the setting by 10 ms. If speed is unstable, gradually increase the setting by 10 ms. If speed is too slow, gradually increase the setting by 0.1 ms. If speed is too fast, gradually decrease the setting by 0.1 ms. Enable slip compensation during regeneration by setting parameter C3-04 = 1. If there is too much motor noise, the carrier frequency is too low. If motor hunting and oscillation occur at low speeds, reduce the carrier frequency. Note: The default setting for the carrier frequency depends on the drive capacity (o2-04) and Duty Selection (C6-01). If motor torque and speed response are too slow, increase the setting. If the motor exhibits excessive instability at start-up, reduce the setting. Note: The default value is for 200 V class units. Double this value when using a 400 V class drive. When working with a relatively light load, increasing this value too much can result in overtorque. Table 6.3 Parameters for Fine-Tuning the Performance in CLV 20 ms <1> 20 to 100 ms <1> 200 ms <2> 100 to 500 ms 1.0 <2> 0.5 to 1.5 0 1 1 (2 khz) 0 to max. setting E1-08: 11.0 V <2> E1-10: 2.0 V <2> <1> Default setting value is dependent on parameter A1-02, Control Method Selection, and o2-04, Drive Model Selection. <2> Default settings change when the Control Method is changed (A1-02) or a different V/f pattern is selected using parameter E1-03. Suggested Setting Default setting ±2 V Problem Poor torque or speed response Motor hunting and oscillation Poor torque or speed response Motor hunting and oscillation Trouble maintaining the ASR proportional gain or the integral time at the low or high end of the speed range Motor hunting and oscillation Motor noise Control motor hunting and oscillation occur at speeds below 3 Hz. Overshoot or undershoot when the speed changes with high inertia load. Parameter No. Corrective Action Default ASR Proportional Gain 1 (C5-01) ASR Proportional Gain 2 (C5-03) <1> ASR Integral Time 1 (C5-02) ASR Integral Time 2 (C5-04) <1> ASR Gain Switching Frequency (C5-07) <1> ASR Primary Delay Time Constant (C5-06) <1> Carrier Frequency Selection (C6-02) Feed Forward Control (n5-01) Inertia Tuning (T1-01 = 8) If motor torque and speed response are too slow, gradually increase the ASR gain setting by 5. If motor hunting and oscillation occur, decrease the setting. Parameter C5-03 needs to be adjusted only if C5-05 > 0. Perform ASR Auto-Tuning if possible If motor torque and speed response are too slow, decrease the setting. If motor hunting and oscillation occur, increase the setting. Parameter C5-04 needs to be adjusted only if C5-05 > 0. Have the drive switch between two different ASR proportional gain and integral time settings based on the output frequency. If motor torque and speed response are too slow, gradually decrease the setting by 0.01. If the load is less rigid and subject to oscillation, increase this setting. If there is too much motor noise, the carrier frequency is too low. If motor hunting and oscillation occur at low speeds, reduce the carrier frequency. Note: The default setting for the carrier frequency depends on the drive capacity (o2-04) and Drive Duty Selection (C6-01). Enable Feed Forward by setting parameter n5-01 = 1 and perform Inertia Tuning. If Inertia Tuning is not possible, set parameters C5-17, C5-18, and n5-03 manually. <1> Refer to C5: Automatic Speed Regulator (ASR) on page 173 for details on Automatic Speed Regulator (ASR). Fine-Tuning Open Loop Vector Control for PM Motors Table 6.4 Parameters for Fine-Tuning Performance in OLV/PM Problem Parameter No. Corrective Action Default Motor performance not as desired Poor motor torque and speed response Motor parameters (E1-, E5- ) Check the settings for base and maximum frequency in the E1- parameters Check E5- parameters and make sure all motor data has been set correctly. Be careful not to enter line to line data where single-phase data is required, and vice versa. Perform Auto-Tuning. Load Inertia Ratio (n8-55) Adjust parameter n8-55 to meet the load inertia ratio of the machine. 0 Speed Feedback Detection Gain (n8-45) Torque Compensation (C4-01) Suggested Setting 20.00 10.00 to 50.00 0.500 s 0.300 to 1.000 s 0.0 Hz Decrease the speed feedback detection gain (n8-45). 0.8 Enable torque compensation. Note: Setting this value too high can cause overcompensation and motor oscillation. 0.0 to max output frequency 0.004 s 0.004 to 0.020 s 1 2.0 khz to the max. setting 0 1 Suggested Setting - - Close to the actual load inertia ratio Decrease in decrements of 0.05 0 1 6 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual 305
6.2 Motor Performance Fine-Tuning Oscillation at start or the motor stalls Stalling or oscillation occur when load is applied during constant speed Hunting or oscillation occur Problem Parameter No. Corrective Action Default STO fault trips even if the load is not too high Stalling or STO occurs at high speed as the output voltage becomes saturated. Pull-In Current during Accel/ Decel (n8-51) DC Injection Braking Current (b2-02), DC Injection Time at Start (b2-03) Load Inertia Ratio (n8-55) Pull-In Current Compensation Time Constant (n8-47) Increase the pull-in current set in n8-51 50% Use DC Injection Braking at start to align the rotor. Be aware that this operation can cause a short reverse rotation at start. Increase the load inertia ratio. Note: Setting this value too high can cause overcompensation and motor oscillation. Decrease n8-47 if hunting occurs during constant speed Fine-Tuning Advanced Open Loop Vector Control for PM Motors Table 6.5 Parameters for Fine-Tuning Performance in AOLV/PM b2-02 = 50% b2-03 = 0.0 s Pull-In Current (n8-48) Increase the pull-in current in n8-48. 30% Load Inertia Ratio (n8-55) Increase the load inertia ratio. 0 Speed feedback Detection Gain (n8-45) Induced Voltage Constant (E5-09 or E5-24) Output Voltage Limit (n8-62) Increase the speed feedback detection gain in n8-45. 0.8 Check and adjust the induced voltage constant. Check the motor name plate, the data sheet or contact the motor manufacturer for getting data. Set the value of the input voltage to parameter n8-62. Never set the value higher than the actual input voltage. 0 5.0 s dep. on drive capacity and motor code 200 Vac or 400 Vac Problem Parameter No. Corrective Action Default Poor torque or speed response Motor hunting and oscillation Poor torque or speed response Motor hunting and oscillation Trouble maintaining the ASR proportional gain or the integral time at the low or high end of the speed range Motor hunting and oscillation Motor stalling makes normal operation impossible ASR Proportional Gain 1 (C5-01) ASR Proportional Gain 2 (C5-03) ASR Integral Time 1 (C5-02) ASR Integral Time 2 (C5-04) ASR Gain Switching Frequency (C5-07) ASR Primary Delay Time Constant (C5-06) Motor parameters (E1-, E5- ) <1> Optimal settings will differ between no-load and loaded operation. If motor torque and speed response are too slow, gradually increase the setting by 5. If motor hunting and oscillation occur, decrease the setting. Parameter C5-03 needs to be adjusted only if C5-05 > 0. If motor torque and speed response are too slow, decrease the setting. If motor hunting and oscillation occur, increase the setting. Parameter C5-03 needs to be adjusted only if C5-05 > 0 Have the drive switch between two different ASR proportional gain and integral time settings based on the output frequency. If the load is less rigid and subject to oscillation, increase this setting. Increase in steps of 5% b2-03 = 0.5 s Increase b2-02 if needed Close to the actual load inertia ratio Reduce in increments of 0.2 s Increase in increments of 5% Close to the actual load inertia ratio Increase in increments 0.05 Refer to the motor data sheet or the nameplate. Set the value lower than the actual input voltage. Suggested Setting 10.00 5.00 to 30.00 <1> 0.500 s 0.300 to 1.000 s <1> 0.0% 0.0 to Max r/min 0.010 s Suggested Setting 0.016 to 0.035 s <1> Check the motor parameter settings. - - Fine-Tuning Closed Loop Vector Control for PM Motors Table 6.6 Parameters for Fine-Tuning Performance in CLV/PM Problem Parameter No. Corrective Action Default Poor torque or speed response Motor hunting and oscillation Poor torque or speed response Motor hunting and oscillation ASR proportional gain or the integral time at the low or high end of the speed range Motor hunting and oscillation Motor stall makes normal operation impossible Overshoot or undershoot at speed changes with high inertia load. ASR Proportional Gain 1 (C5-01) ASR Proportional Gain 2 (C5-03) ASR Integral Time 1 (C5-02) ASR Integral Time 2 (C5-04) ASR Gain Switching Frequency (C5-07) ASR Primary Delay Time Constant (C5-06) Motor parameters (E1-, E5- ) Feed Forward Control (n5-01) Inertia Auto-Tuning (T2-01 = 8) <1> Optimal settings will differ between no-load and loaded operation. If motor torque and speed response are too slow, gradually increase the setting by 5. If motor hunting and oscillation occur, decrease the setting. Perform ASR Gain Auto-Tuning if possible If motor torque and speed response are too slow, decrease the setting. If motor hunting and oscillation occur, increase the setting. Have the drive switch between two different ASR proportional gain and integral time settings based on the output frequency. If the load is less rigid and subject to oscillation, increase this setting. Suggested Setting 20.00 10.00 to 50.00 <1> 0.500 s 0.300 to 1.000 s <1> 0.0% 0.0 to Max r/min 0.016 s 0.004 to 0.020 s <1> Check the motor parameter settings. - - Enable Feed Forward Control by setting parameter n5-01 = 1 and perform Inertia Auto-Tuning. If Auto-Tuning cannot be performed set parameters C5-17, C5-18 and n5-03 manually. 0 1 306 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual
6.2 Motor Performance Fine-Tuning Parameters to Minimize Motor Hunting and Oscillation In addition to the parameters discussed on page 304 through 306, the following parameters indirectly affect motor hunting and oscillation. Table 6.7 Parameters that Affect Control Performance in Applications Name (Parameter No.) Dwell Function (b6-01 through b6-04) Droop Function (b7-01, b7-02) Accel/Decel Time (C1-01 through C1-11) S-Curve Characteristics (C2-01 through C2-04) Jump Frequency (d3-01 through d3-04) Analog Filter Time Constant (H3-13) Stall Prevention (L3-01 through L3-06, L3-11) Torque Limits (L7-01 through L7-04, L7-06, L7-07) Feed Forward Control (n5-01 through n5-03) Application Prevents motor speed loss by maintaining the output frequency when working with heavy loads or when there is powerful backlash on the machine side. Used to balance the load between two motors that drive the same load. Can be used when the control method (A1-02) is set to 3 or 7. Adjusting accel and decel times will affect the torque presented to the motor during acceleration or deceleration. Prevents shock at the beginning and end of acceleration and deceleration. Skips over the resonant frequencies of connected machinery. Prevents fluctuation in the analog input signal due to noise. Prevents motor speed loss and overvoltage. Used when the load is too heavy and also during sudden acceleration/ deceleration. Adjustment is not normally required because Stall Prevention is enabled as a default. Disable Stall Prevention during deceleration (L3-04 = 0 ) when using a braking resistor. Sets the maximum torque for Open Loop Vector Control. Ensure that the drive capacity is greater than the motor capacity when increasing this setting. Be careful when reducing this value because motor speed loss may occur with heavy loads. Used to increase response for acceleration/deceleration or to reduce overshooting when there is low machine rigidity and the gain of the speed controller (ASR) cannot be increased. The inertia ratio between the load and motor and the acceleration time of the motor running alone must be set. 6 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual 307
6.3 Drive Alarms, Faults, and Errors 6.3 Drive Alarms, Faults, and Errors Types of Alarms, Faults, and Errors Check the digital operator for information about possible faults if the drive or motor fails to operate. Refer to Using the Digital Operator on page 89. If problems occur that are not covered in this manual, contact the nearest Yaskawa representative with the following information: Drive model Software version Date of purchase Description of the problem Table 6.8 contains descriptions of the various types of alarms, faults, and errors that may occur while operating the drive. Contact Yaskawa in the event of drive failure. Table 6.8 Types of Alarms, Faults, and Errors Type Faults Minor Faults and Alarms Operation Errors Tuning Errors Copy Function Errors Drive Response When the drive detects a fault: The digital operator displays text that indicates the specific fault and the ALM indicator LED remains lit until the fault is reset. The fault interrupts drive output and the motor coasts to a stop. Some faults allow the user to select how the drive should stop when the fault occurs. Fault output terminals MA-MC will close, and MB-MC will open. The drive will remain inoperable until that fault has been cleared. Refer to Fault Reset Methods on page 342. When the drive detects an alarm or a minor fault: The digital operator displays text that indicates the specific alarm or minor fault, and the ALM indicator LED flashes. The drive generally continues running the motor, although some alarms allow the user to select a stopping method when the alarm occurs. One of the multi-function contact outputs closes if set to be tripped by a minor fault (H2- = 10), but not by an alarm. The digital operator displays text indicating a specific alarm and ALM indicator LED flashes. To reset the a minor fault or alarm, remove whatever is causing the problem. When parameter settings conflict with one another or do not match hardware settings (such as with an option card), it results in an operation error. When the drive detects an operation error: The digital operator displays text that indicates the specific error. Multi-function contact outputs do not operate. The drive will not operate the motor until the error has been reset. Correct the settings that caused the operation error to clear the error. Tuning errors occur while performing Auto-Tuning. When the drive detects a tuning error: The digital operator displays text indicating the specific error. Multi-function contact outputs do not operate. Motor coasts to stop. Remove the cause of the error and repeat the Auto-Tuning process. These are the types of errors that can occur when using the optional digital operator or the USB Copy Unit to copy, read, or verify parameter settings. The digital operator displays text indicating the specific error. Multi-function contact outputs do not operate. Pressing any key on the operator will clear the fault. Find out what is causing the problem (such as model incompatibility) and try again. 308 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual
6.3 Drive Alarms, Faults, and Errors Alarm and Error Displays Faults Table 6.9 gives an overview of possible fault codes. As conditions such as overvoltage can trip both a fault and an alarm, it is important to distinguish between faults and alarms in order to find the right corrective action. When the drive detects a fault, the ALM indicator LEDs lights and the fault code appears on the display. The drive fault contact MA-MB-MC will be triggered. If the ALM LED blinks and the code appearing on the operator screen is flashes, then an alarm has been detected. See Minor Faults and Alarms on page 310 for a list of alarm codes. Table 6.9 Fault Displays (1) Name Page LED Operator LCD Operator LED Operator LCD Operator Name Page bol Braking Transistor Overload Fault 314 Err EEPROM Write Error 317 bus Option Communication Error 314 FAn Internal Fan Fault 317 CE MEMOBUS/Modbus Communication Error 314 FbH Excessive PID Feedback 317 CF Control Fault 314 FbL PID Feedback Loss 318, <1> CPF00, CPF01 Control Circuit Error 314 GF Ground Fault 318 LF Output Phase Loss 318 CPF02 A/D Conversion Error 314 LF2 Current Imbalance 318 CPF03 Control Board Connection Error 315 <2> LF3 Power Unit Output Phase Loss 3 318 CPF06 EEPROM Memory Data Error 315 nse Node Setup Error 319, CPF07, CPF08 Terminal Board Connection Error 315 oc Overcurrent 319 ofa00 Option Card Connection Error (CN5-A) 319, <1> CPF20, CPF21 Control Circuit Error 315 CPF22 Hybrid IC Error 315 to ofa01 Option Card Fault (CN5-A) 319 ofa03 to ofa06 Option Card Error (CN5-A) 319 CPF23 Control Board Connection Error 315 CPF24 Drive Unit Signal Fault 315, ofa10, ofa11 Option Card Error (CN5-A) 319 to, to CPF26 to CPF34, CPF40 to CPF45 Control Circuit Error 315 to ofa12 to ofa17 Option Card Connection Error (CN5-A) 319 <2> dev Excessive Speed Deviation (for Control Mode with PG) 316 to ofa30 to ofa43 Option Card Connection Error (CN5-A) 319 dv1 Z Pulse Fall Detection 316 ofb00 Option Card Connection Error (CN5-B) 320 dv2 Z Pulse Noise Fault Detection 316 ofb01 Option Card Fault (CN5-B) 320 dv3 Inversion Detection 316 ofb02 Option Card Fault (CN5-B) 320 6 dv4 Inversion Prevention Detection 316, ofb03, ofb11 Option Card Error (CN5-B) 320 <3> <4> dv7 Polarity Judge Timeout 316 dwfl DriveWorksEZ Fault 316 to ofb12 to ofb17 Option Card Connection Error (CN5-B) 320 E5 SI-T3 Watchdog Timer Error 317 ofc00 Option Card Connection Error (CN5-C) 320 EF0 Option Card External Fault 317 ofc01 Option Card Fault (CN5-C) 320 to EF1 to EF8 External Fault (input terminal S1 to S8) 317 ofc02 Option Card Fault (CN5-C) 320 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual 309
6.3 Drive Alarms, Faults, and Errors Table 6.10 Fault Displays (2) Name Page LED Operator LCD Operator LED Operator LCD Operator Name Page, to ofc03, ofc11 Option Card Error (CN5-C) 320 ofc12 to ofc17 Option Card Connection Error (CN5-C) 320 PGo PG Disconnect (for Control Mode with PG) 324 PGoH PG Hardware Fault (when using PG-X3) 324 rf Braking Resistor Fault 324 rh Dynamic Braking Resistor 324 oh Heatsink Overheat 321 rr Dynamic Braking Transistor 324 oh1 Heatsink Overheat 321 <3> <4> SC IGBT Upper Arm and Lower Arm Short Circuit 324 oh3 Motor Overheat Alarm (PTC Input) 321 SEr Too Many Speed Search Restarts 325 oh4 Motor Overheat Fault (PTC Input) 321 STo Pull-Out Detection 325 <2> oh5 Motor Overheat (NTC Input) 321 SvE Zero-Servo Fault 325 ol1 Motor Overload 322 <2> THo Thermistor Disconnect 325 ol2 Drive Overload 322 UL3 Undertorque Detection 1 325 ol3 Overtorque Detection 1 322 UL4 Undertorque Detection 2 325 ol4 Overtorque Detection 2 322 UL5 Mechanical Weakening Detection 2 325 ol5 Mechanical Weakening Detection 1 322 <2> UnbC Current Unbalance 325 ol7 High Slip Braking ol 323 Uv1 Undervoltage 325 opr Operator Connection Fault 323 Uv2 Control Power Supply Undervoltage 326 os Overspeed (for Control Mode with PG) 323 Uv3 Soft Charge Circuit Fault 326 ov Overvoltage 323 <2> Uv4 Gate Drive Board Undervoltage 326 PF Input Phase Loss 324 vof Output Voltage Detection Fault 326 <1> Displayed as or when occurring at drive power up. When one of the faults occurs after successfully starting the drive, the display will show or. <2> Occurs in models CIMR-A 4A0930 and 4A1200. <3> Valid from the drive software version S1015 and later. <4> Invalid in models CIMR-A 4A0930 and 4A1200. Minor Faults and Alarms Table 6.11 give an overview of possible alarm codes. As conditions such as overvoltage can trip both a fault and alarm, it is important to distinguish between faults and alarms in order to find the right corrective action. If an alarm is detected, the ALM LED will blink and the alarm code display flashes. The majority of alarms will trigger a digital output programmed for alarm output (H2- = 10). If the ALM LED lights without blinking, this means that a fault has been detected (not an alarm). Information on fault codes can be found in Faults on page 309. Table 6.11 Minor Fault and Alarm Displays LED Operator LCD Operator Name Minor Fault Output (H2- = 10) Page AEr SI-T Station Number Setting Error (CC-Link, CANopen, MECHATROLINK-II) YES 327 bb Drive Baseblock No output 327 bol Braking Transistor Overload Fault YES 327 bus Option Card Communications Error YES 327 CALL Serial Communication Transmission Error YES 327 CE MEMOBUS/Modbus Communication Error YES 328 CrST Cannot Reset YES 328 310 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual
6.3 Drive Alarms, Faults, and Errors LED Operator LCD Operator Name Minor Fault Output (H2- = 10) Page dev Excessive Speed Deviation (for Control Mode with PG) YES 328 dne Drive Disabled YES 328 dwal DriveWorksEZ Alarm YES 316 E5 SI-T3 Watchdog Timer Error YES 317 EF Run Command Input Error YES 328 EF0 Option Card External Fault YES 328 to EF1 to EF8 External Fault (input terminal S1 to S8) YES 328 FbH Excessive PID Feedback YES 329 FbL PID Feedback Loss YES 329 Hbb Safe Disable Signal Input YES 329 HbbF Safe Disable Signal Input YES 329 HCA Current Alarm YES 329 LT-1 Cooling Fan Maintenance Time No output <1> 329 LT-2 Capacitor Maintenance Time No output <1> 330 LT-3 Soft Charge Bypass Relay Maintenance Time No output <1> 330 LT-4 IGBT Maintenance Time (50%) No output <1> 330 oh Heatsink Overheat YES 330 oh2 Drive Overheat YES 330 oh3 Motor Overheat YES 330 <2> oh5 Motor Overheat (NTC Input) YES 330 ol3 Overtorque 1 YES 330 ol4 Overtorque 2 YES 331 ol5 Mechanical Weakening Detection 1 YES 331 os Overspeed (for Control Mode with PG) YES 331 ov Overvoltage YES 331 PASS MEMOBUS/Modbus Test Mode Complete No output 331 PGo PG Disconnect (for Control Mode with PG) YES 331 PGoH PG Hardware Fault (when using PG-X3) YES 331 run During Run 2, Motor Switch Command Input YES 331 SE MEMOBUS/Modbus Test Mode Fault YES 332 <2> THo Thermistor Disconnect YES 332 6 TrPC IGBT Maintenance Time (90%) YES 332 UL3 Undertorque 1 YES 332 UL4 Undertorque 2 YES 332 UL5 Mechanical Weakening Detection 2 YES 325 Uv Undervoltage YES 332 vof Output Voltage Detection Fault YES 332 <1> Output when H2- = 2F. <2> Occurs in models CIMR-A 4A0930 and 4A1200. YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual 311
6.3 Drive Alarms, Faults, and Errors Operation Errors Table 6.12 Operation Error Displays LED Operator LCD Operator Name Page LED Operator LCD Operator Name Page ope01 Drive Unit Setting Error 333 ope09 PID Control Selection Error 334 ope02 Parameter Setting Range Error 333 ope10 V/f Data Setting Error 335 ope03 Multi-Function Input Setting Error 333 ope11 Carrier Frequency Setting Error 335 ope04 Terminal Board Mismatch Error 334 ope13 Pulse Train Monitor Selection Error 335 ope05 Run Command Selection Error 334 ope15 Torque Control Setting Error 335 ope06 Control Method Selection Error 334 ope16 Energy Saving Constants Error 335 ope07 Multi-Function Analog Input Selection Error 334 ope18 Online Tuning Parameter Setting Error 335 ope08 Parameter Selection Error 334 Auto-Tuning Errors Table 6.13 Auto-Tuning Error Displays Name Page LED Operator LCD Operator LED Operator LCD Operator Name Page End1 Excessive V/f Setting 336 Er-09 Acceleration Error 337 End2 Motor Iron Core Saturation Coefficient Error 336 Er-10 Motor Direction Error 337 End3 Rated Current Setting Alarm 336 Er-11 Motor Speed Error 337 End4 Adjusted Slip Value Fell Below Lower Limit 336 Er-12 Current Detection Error 338 End5 Resistance Between Lines Error 336 Er-13 Leakage Inductance Error 338 End6 Leakage Inductance Alarm 336 Er-14 Motor Speed Error 2 338 End7 No-Load Current Alarm 336 Er-15 Torque Saturation Error 338 Er-01 Motor Data Error 336 Er-16 Inertia ID Error 338 Er-02 Alarm 337 Er-17 Reverse Prohibited Error 338 Er-03 STOP button Input 337 Er-18 Induction Voltage Error 338 Er-04 Line-to-Line Resistance Error 337 Er-19 PM Inductance Error 338 Er-05 No-Load Current Error 337 Er-20 Stator Resistance Error 338 Er-08 Rated Slip Error 337 Er-21 Z Pulse Correction Error 338 Errors and Displays When Using the Copy Function Table 6.14 Copy Errors LED Operator LCD Operator Name Page CoPy Writing parameter settings (flashing) 339 CPEr Control mode of the drive does not match 339 CPyE Error writing data 339 CSEr Error occurred in the copy function 339 dfps Drive models do not match. 339 End Task completed 339 ifer Communication error 339 ndat Model, voltage class, capacity, and/or control mode differ 339 rder Error reading data 340 read Reading parameter settings (flashing) 340 312 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual
6.3 Drive Alarms, Faults, and Errors LED Operator LCD Operator Name Page vaer Voltage class and/or drive capacity does not match 340 vfye Parameter settings in the drive and those saved to the copy function are not the same 340 vrfy Comparing parameter settings (flashing) 340 6 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual 313
6.4 Fault Detection 6.4 Fault Detection Fault Displays, s, and Faults are detected for drive protection, and cause the drive to stop. When a fault occurs, the fault output terminal MA- MB-MC is triggered. Faults have to be cleared manually after removing the cause to start running the drive again. Table 6.15 Detailed Fault Displays, s, and The wrong braking resistor is installed. No signal received from the PLC. bol bus Faulty communications wiring or a short circuit exists. A communications data error occurred due to noise. The option card is damaged. The option card is not properly connected to the drive. CE Faulty communications wiring or a short circuit exists. Communication data error occurred due to noise. Motor parameters are not set properly. Torque limit is too low. Load inertia is too big. or <1> CF CPF00 or CPF01 <1> There is a self diagnostic error in control circuit. Connector on the operator is damaged. Control circuit is damaged. CPF02 Braking Transistor Overload Fault The braking transistor has reached its overload level. Select the optimal braking resistor. Option Communication Error After establishing initial communication, the connection was lost. Only detected when the run command frequency reference is assigned to an option card. Check for faulty wiring. Correct the wiring. Check for disconnected cables and short circuits. Repair as needed. Check the various options available to minimize the effects of noise. Take steps to counteract noise in the control circuit, main circuit, and ground wiring. Ensure that other equipment such as switches or relays do not cause noise. Use surge suppressors if necessary. Use only recommended cables or other shielded line. Ground the shield on the controller side or on the drive input power side. Separate all communication wiring from drive power lines. Install an EMC noise filter to the drive power supply input. Replace the option card if there are no problems with the wiring and the error continues to occur. The connector pins on the option card are not properly lined up with the connector pins on the drive. Reinstall the option card. MEMOBUS/Modbus Communication Error Control data was not received for the CE detection time set to H5-09. Check for faulty wiring. Correct the wiring. Check for disconnected cables and short circuits. Repair as needed. Check the various options available to minimize the effects of noise. Take steps to counteract noise in the control circuit, main circuit, and ground wiring. Use only recommended cables or other shielded line. Ground the shield on the controller side or on the drive input power side. Ensure that other equipment such as switches or relays do not cause noise and use surge suppressors if required. Separate all communication wiring from drive power lines. Install an EMC noise filter to the drive power supply input. Control Fault A torque limit was reached continuously for three seconds or longer while ramping to stop in Open Loop Vector Control. Check the motor parameter settings and repeat Auto-Tuning. Set the torque limit to the most appropriate setting (L7-01 through L7-04). Adjust the deceleration time (C1-02, -04, -06, -08). Set the frequency to the minimum value and interrupt the Run command when the drive finishes decelerating. Control Circuit Error Cycle power to the drive. If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. Replace the operator. A/D Conversion Error An A/D conversion error or control circuit error occurred. Cycle power to the drive. If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. 314 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual
6.4 Fault Detection There is a connection error. CPF03 Drive fails to operate properly due to noise interference. CPF06 There is an error in EEPROM control circuit. The power supply was switched off when parameters were being saved to the drive. Control Board Connection Error Connection error between the control board and the drive Turn the power off and check the connection between the control board and the drive. If the problem continues, replace either the control board or the entire drive. Check the various options available to minimize the effects of noise. Take steps to counteract noise in the control circuit, main circuit, and ground wiring. Use only recommended cables or other shielded line. Ground the shield on the controller side or on the drive input power side. Ensure that other equipment such as switches or relays do not cause noise and use surge suppressors if required. Separate all communication wiring from drive power lines. Install an EMC noise filter to the drive power supply input. EEPROM Memory Data Error There is an error in the data saved to EEPROM. Turn the power off and check the connection between the control board and the drive. If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. Reinitialize the drive (A1-03). CPF07 CPF08 Terminal Board Connection Error There is a fault connection between the terminal board and control board. Hardware is damaged. or <1> CPF20 or CPF21 Control Circuit Error Turn the power off and reconnect the control circuit terminal board. If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. Cycle power to the drive. If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. Hybrid IC on the main circuit is damaged. Hardware is damaged. Hardware is damaged. to, to <2> Hardware is damaged. CPF22 CPF23 CPF24 CPF26 to CPF34, CPF40 to CPF45 Hybrid IC Error Cycle power to the drive. Refer to Diagnosing and Resetting Faults on page 341. If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. Control Board Connection Error Connection error between the control board and the drive Turn the power off and check the connection between the control board and the drive. If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. Drive Unit Signal Fault The drive capacity cannot be detected correctly (drive capacity is checked when the drive is powered up). Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. Control Circuit Error CPU error Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. 6 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual 315
6.4 Fault Detection Load is too heavy. dev Acceleration and deceleration times are set too short. The load is locked up. Parameters are not set appropriately. Incorrect speed feedback scaling if terminal RP is used as speed feedback input in V/f control. Motor brake engaged. dv1 PG encoder is not connected, not wired properly, or is damaged. Noise interference along the PG cable. PG cable is not wired properly. dv2 PG option card or the PG encoder is damaged. dv3 The Z pulse offset is not set properly to E5-11. An external force on the load side has caused the motor to move. Noise interference along the PG cable affecting the A or B pulse. PG encoder is disconnected, not wired properly, or the PG option card or PG itself is damaged. Rotational direction for the PG encoder set to F1-05 is the opposite of the order of the motor lines. dv4 The Z pulse offset is not set properly to E5-11. Noise interference along the PG cable affecting the A or B pulse. PG encoder is disconnected, not wired properly, or the PG option card or PG itself is damaged. Speed Deviation (for Control Mode with PG) The deviation between the speed reference and speed feedback is greater than the setting in F1-10 for longer than the time set to F1-11. Reduce the load. Increase the acceleration and deceleration times (C1-01 through C1-08). Check the machine. Check the settings of parameters F1-10 and F1-11. Set H6-02 to the same value as the speed feedback signal frequency when the motor runs at maximum speed. Adjust the speed feedback signal using parameters H6-03 through H6-05. Make sure the speed feedback signal frequency does not exceed the maximum input frequency of terminal RP. Ensure the motor brake releases properly. Z Pulse Fault The motor turned one full rotation without the Z pulse being detected. Make sure the PG encoder is properly connected and all shielded lines are properly grounded. If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself. Z Pulse Noise Fault Detection The Z pulse is out of phase by more than 5 degrees for the number of times specified in parameter F1-17. Separate the PG cable lines from the source of the noise (very possibly drive output wiring). Rewire the PG encoder and make sure all shielded lines are properly grounded. If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself. Inversion Detection The torque reference and acceleration are in opposite directions from one another (one is in reverse and the other is forward) while at the same time the speed reference and actual motor speed differ by over 30% for the number of pulses set to F1-18. Set the value for Δθ to E5-11 as specified on the motor nameplate. Replacing the PG encoder or changing the application so that the motor rotates in reverse instead requires readjustment of the Z pulse offset. Make sure the motor is rotating in the right direction. Look for any problems on the load side that might be causing the motor to rotate in the opposite direction. Rewire the PG encoder and make sure all lines including shielded line are properly connected. Make sure motor lines for each phase (U, V, W) are connected properly. Inversion Prevention Detection <3> <4> dv7 Polarity Judge Timeout Disconnection in the motor coil winding. Loose output terminals. dwal dwfl Pulses indicate that the motor is rotating in the opposite direction of the speed reference. Set the number of pulses to trigger inverse detection to F1-19. Note: Disable inverse detection in applications where the motor may rotate in the opposite direction of the speed reference. Setting F1-19 to 0 disables this feature. Set the value for Δθ to E5-11 as specified on the motor nameplate. If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself. Replacing the PG encoder or changing the application so that the motor rotates in reverse instead requires readjustment of the Z-pulse offset. Make sure the motor is rotating in the correct direction. Look for any problems on the load side that might be causing the motor to rotate in the opposite direction. Rewire the PG encoder and make sure all lines including shielded line are properly connected. If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself. Measure the motor line-to-line resistance and replace the motor if the motor coil winding is disconnected. Check for loose terminals. Apply the tightening torque specified in this manual to fasten the terminals. Refer to Wire Size on page 77. DriveWorksEZ Fault Fault output by DriveWorksEZ Correct whatever caused the fault. 316 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual
6.4 Fault Detection Data has not been received from the PLC, triggering the watchdog timer. E5 EF0 An external fault was received from the PLC with other than F6-03 = 3 alarm only (the drive continued to run after external fault). Problem with the PLC program. EF1 EF2 EF3 EF4 EF5 EF6 EF7 EF8 An external device has tripped an alarm function. Wiring is incorrect. Incorrect setting of multi-function contact inputs. Err SI-T3 Watchdog Timer Error The watchdog has timed out. Execute DISCONNECT or ALM_CLR, then issue a CONNECT command or SYNC_SET command and proceed to phase 3. Option Card External Fault An external fault condition is present. Remove the cause of the external fault. Remove the external fault input from the PLC. Check the PLC program and correct problems. External Fault (input terminal S1) External fault at multi-function input terminal S1. External Fault (input terminal S2) External fault at multi-function input terminal S2. External Fault (input terminal S3) External fault at multi-function input terminal S3. External Fault (input terminal S4) External fault at multi-function input terminal S4. External Fault (input terminal S5) External fault at multi-function input terminal S5. External Fault (input terminal S6) External fault at multi-function input terminal S6. External Fault (input terminal S7) External fault at multi-function input terminal S7 External Fault (input terminal S8) External fault at multi-function input terminal S8 Remove the cause of the external fault and reset the fault. Ensure the signal lines have been connected properly to the terminals assigned for external fault detection (H1- = 20 to 2F). Reconnect the signal line. Check if the any unused terminals are set for H1- = 20 to 2F (External Fault). Change the terminal settings. EEPROM Write Error Data cannot be written to the EEPROM. Noise has corrupted data while writing to the EEPROM. Hardware problem. FAn Internal cooling fan has malfunctioned (models 2A0360, 2A0415, 4A0362 to 4A1200). Fault detected in the internal cooling fan or magnetic contactor to the power supply (models 2A0250 to 2A0415, 4A0165 to 4A1200). Parameters are not set appropriately. Wiring for PID feedback is incorrect. FbH There is a problem with the feedback sensor. Press the button. Correct the parameter setting. Cycle power to the drive. Refer to Diagnosing and Resetting Faults on page 341. Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest sales representative. Internal Fan Fault Fan or magnetic contactor failed. Cycle power to the drive and see if the fault is still present. Check if the fan is operating or not. Verify the cumulative operation time of the fan using monitor U4-03, and the fan maintenance timer in U4-04. If the cooling fan has passed its expected performance life or is damaged in some way, follow the instructions in this manual to replace it. Cycle power to the drive and see if the fault is still present. If the fault still occurs, either replace the control circuit board or the entire unit. For instructions on replacing the power board, contact the Yaskawa sales office directly or your nearest Yaskawa representative. Excessive PID Feedback PID feedback input is greater than the level set b5-36 for longer than the time set to b5-37. To enable fault detection, set b5-12 = 2 or 5. Check the settings of parameters b5-36 and b5-37. Correct the wiring. Check the sensor on the control side. Replace the sensor if damaged. 6 YASKAWA ELECTRIC SIEP C710616 27D YASKAWA AC Drive A1000 Technical Manual 317